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Fix watchdog on rmt task

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This commit is contained in:
Johnathon Slightham
2026-03-04 04:26:06 -05:00
parent 5f02634794
commit 9cd7cbac3b
5 changed files with 72 additions and 58 deletions
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15
components/dataLink/DataLinkFrames.cpp
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@@ -514,12 +514,21 @@ esp_err_t DataLinkManager::receive_rmt(uint8_t channel){
res = link_layer_obj->start_receive_frames_rmt(i); res = link_layer_obj->start_receive_frames_rmt(i);
} }
while(!link_layer_obj->stop_tasks){ while(!link_layer_obj->stop_tasks){
bool any_received = false;
for (uint8_t i = 0; i < link_layer_obj->num_channels; i++){ for (uint8_t i = 0; i < link_layer_obj->num_channels; i++){
res = link_layer_obj->receive_rmt(i); esp_err_t r = link_layer_obj->receive_rmt(i);
res = link_layer_obj->start_receive_frames_rmt(i); if (r == ESP_OK){
any_received = true;
}
link_layer_obj->start_receive_frames_rmt(i);
taskYIELD(); // feed the watchdog and yield to other tasks between channel polls
} }
vTaskDelay(pdMS_TO_TICKS(RECEIVE_TASK_PERIOD_MS)); if (!any_received){
// Nothing received on any channel — sleep briefly to avoid busy-spinning
// and give the watchdog / idle task guaranteed CPU time.
vTaskDelay(pdMS_TO_TICKS(RECEIVE_TASK_PERIOD_MS));
}
} }
vTaskDelete(nullptr); vTaskDelete(nullptr);

2
components/dataLink/include/Scheduler.h
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@@ -5,7 +5,7 @@
#define SCHEDULER_MUTEX_WAIT 10 //max time duration to wait #define SCHEDULER_MUTEX_WAIT 10 //max time duration to wait
#define SCHEDULER_PERIOD_MS 10 #define SCHEDULER_PERIOD_MS 10
#define RECEIVE_TASK_PERIOD_MS 2 #define RECEIVE_TASK_PERIOD_MS 5
#define GENERIC_FRAME_SLIDING_WINDOW_SIZE 5 //defines the maximum size of the sliding window before resending previously un-ack'd fragments #define GENERIC_FRAME_SLIDING_WINDOW_SIZE 5 //defines the maximum size of the sliding window before resending previously un-ack'd fragments
#define SLIDING_WINDOW_MUTEX_TIMEOUT_MS 5 #define SLIDING_WINDOW_MUTEX_TIMEOUT_MS 5

4
components/rmt/RMTManager.cpp
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@@ -579,9 +579,7 @@ esp_err_t RMTManager::receive(uint8_t* recv_buf, size_t size, size_t* output_siz
} }
rmt_rx_done_event_data_t rx_data; rmt_rx_done_event_data_t rx_data;
if (xQueueReceive(channels[channel_num].rx_queue, &rx_data, pdMS_TO_TICKS(5)) != pdTRUE){ //this will wait until a message has arrived or not if (xQueueReceive(channels[channel_num].rx_queue, &rx_data, 0) != pdTRUE){ // non-blocking poll
// printf("Timeout occurred while waiting for RX event\n");
// ESP_LOGE(DEBUG_TAG, "Timeout occurred while waiting for RX event - didn't receive a message in time");
return ESP_FAIL; return ESP_FAIL;
} }

6
main/include/LoopManager.h
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@@ -33,6 +33,12 @@ public:
std::vector<uint8_t> return_value(msg.begin(), msg.end()); std::vector<uint8_t> return_value(msg.begin(), msg.end());
writer.write(return_value); writer.write(return_value);
}); });
const auto bandwidth_test_fn_tag = 101;
m_messaging_interface->register_function(bandwidth_test_fn_tag, [](const uint8_t *parameters, size_t parameter_size, Writer& writer) {
std::string msg = "";
std::vector<uint8_t> return_value(msg.begin(), msg.end());
writer.write(return_value);
});
} }
MessagingInterface &get_messaging_interface(); MessagingInterface &get_messaging_interface();

1
main/main.cpp
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@@ -21,6 +21,7 @@ extern "C" [[noreturn]] void app_main(void) {
auto& config_manager = ConfigManager::get_instance(); // NOLINT - here for easily adding temporary config auto& config_manager = ConfigManager::get_instance(); // NOLINT - here for easily adding temporary config
config_manager.set_communication_method(CommunicationMethod::Wireless); config_manager.set_communication_method(CommunicationMethod::Wireless);
esp_log_set_vprintf(RemoteDebugging::custom_log_write); esp_log_set_vprintf(RemoteDebugging::custom_log_write);
const auto loop_manager = std::make_unique<LoopManager>(); const auto loop_manager = std::make_unique<LoopManager>();